A novel approach for multiple mobile objects path planning: Parametrization method and conflict resolution strategy |
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| Authors: | Yong Ma M Zamirian |
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| Institution: | a Key Laboratory of Image Processing and Intelligent Control, Institute of Systems Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, PR China
b Department of Mathematics, Bojnourd Branch, Islamic Azad University, Bojnourd, Iran |
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| Abstract: | We present a new approach containing two steps to determine conflict-free paths for mobile objects in two and three dimensions with moving obstacles. Firstly, the shortest path of each object is set as goal function which is subject to collision-avoidance criterion, path smoothness, and velocity and acceleration constraints. This problem is formulated as calculus of variation problem (CVP). Using parametrization method, CVP is converted to time-varying nonlinear programming problems (TNLPP) and then resolved. Secondly, move sequence of object is assigned by priority scheme; conflicts are resolved by multilevel conflict resolution strategy. Approach efficiency is confirmed by numerical examples. |
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| Keywords: | Mobile object The shortest path planning Parametrization method Time-varying nonlinear programming problem Priority scheme Conflict resolution strategy |
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